Feature: Differential encoders are supported! In differential mode, the maximum state rate is up to 20 megastates/sec (frequency of square wave 5 MHz for each channel).

Feature: Encoders with high resolution are supported! Counts per turn is up to 4294967295 (previously maximum counts per turn 65535).

Feature: Closed-loop algorithm for stepper motors are supported! The motor can no longer lose any steps up to its maximum torque. If the controller recognizes that the rotor is falling behind the stator field due to overload, adjustments are made with optimal field angle and increased current.

Fixed bug: In rare cases engine can interfere with a signals "over temperature" and "bridge fault". Now the signals is filtered by 25 ms.

4.0.9

Feature: Two homing algorithms are available. Traditional homing is useful for a big motors with very inertial load. Fast homing is useful for little motor with long translation line.

Feature: For stepper motor with feedback encoder more stable behavior was reached when rotating.

Fixed bug: #14464. 8SMC5's data structures of EEPROM are shifted with respect to the same in 8SMC4.

4.0.4

Feature: The new algorithm for stepper motors with encoder. Now encoder can prevent the motor stucking when it reach rezonance speed. More stable and smooth rotation for stepper motors with high nominal current (1.2 A and more).

Fixed bug: There was no synchronization of the PWM signal. In rare cases, this could lead to unstable rotations.

3.9.20

Feature: Compatibility with new XiLab added by updateing protocol to v17.4.

Feature: Winding resistance difference check and alarm flags added

3.9.18

Feature: Two homing algorithms are available: traditional and fast homing. Fast homing is commonly used for most small positioners. Traditional homing is better for large and heavy positioners.

Fixed bug: The virtual position now changes with the real one when the motor power is off. With no current in the motor windings, the values of the real and virtual positions could diverge when the rotor of the motor was turned.

3.9.16

Feature: The new algorithm for stepper motors with encoder. Now encoder can prevent the motor stucking when it reach rezonance speed. More stable and smooth rotation for stepper motors with high nominal current (1.2 A and more).

Fixed bug: There was no synchronization of the PWM signal. In rare cases, this could lead to unstable rotations.

3.9.14

Feature: The nominal current can be interpreted as an RMS (root mean square) value. It's most popular interpretation of nominal current of stepper motors. So, if user uses new profile for his positioner, its torque will be increased.

Fixed bug: If software limit switches are activated and the engine is stucked in one by 'Shift on' command then in rare cases backward move will incorrect.

Fixed bug: The synchronization input and the external general purpose input don't accept event when user reverses their active state in settings.

Minor change: More robust settings update.

Minor change: Internal timer has been improved. It had 16 bits counter in the past, now 32 bits counter.

3.9.12

Feature: Support "Alarm on ExtIO" option.

Fixed bug: CLOCK and DIR pins on external conrol were swaped.

Fixed bug: When ExtIO has active state it rarely didn't result in motion stop when it should.

3.9.11

Fixed bug: Semi closed-loop control module for stepper motor has been fixed. The controller wasn't capable of any movement if there was an alarm signal on the module.

Fixed bug: The joystick behaviour has been fixed. With firmware 3.9.10 the uncontrolled movement to the right is occurred.

Fixed bug: The soft stop correctly occurs without any motion. Earlier if any motions are absent the soft stop was cause of a little changes of position.

Minor change: More robust settings update.

3.9.10

Feature: Every protocol command verify its values now. The "errv" error is generated in case of wrong input values and the values are fixed.

Fixed bug: After immediate stop there was big power consumption resulting in safety logic power cutoff with some motors.

Fixed bug: A small position overshoot could happen due to the long position autosave calculations. Now it is much faster.

Fixed bug: Software fix for high EMI that could result in false limit switch triggering.

Fixed bug: Step motor virtual movement was not stopping at the event of power loss.

Includes all latest bugfixes of 3.8 branch up to 3.8.14 firmware.

3.9.5

Major change: New algorithm of step motor movement. There are higher torque on high speeds, no overcurrents or undercurrents now.

Feature: Autotuned motor parameters are saved automatically now. There will be no noises during the first movement after the power up.

3.8.19

Feature: The nominal current can be interpreted as an RMS (root mean square) value. It's most popular interpretation of nominal current of stepper motors. So, if user uses new profile for his positioner, its torque will be increased.

Fixed bug: If software limit switches are activated and the engine is stucked in one by 'Shift on' command then in rare cases backward move will incorrect.

Fixed bug: The synchronization input and the external general purpose input don't accept event when user reverses their active state in settings.

Minor change: More robust settings update.

Minor change: Internal timer has been improved. It had 16 bits counter in the past, now 32 bits counter.

3.8.17

Feature: Support "Alarm on ExtIO" option.

Fixed bug: CLOCK and DIR pins on external conrol were swaped.

Fixed bug: When ExtIO has active state it rarely didn't result in motion stop when it should.

Fixed bug: The soft stop correctly occurs without any motion. Earlier if any motions are absent the soft stop was cause of a little changes of position.

Minor change: More robust settings update.

3.8.16

Feature: Every protocol command verify its values now. The "errv" error is generated in case of wrong input values and the values are fixed.

Fixed bug: Software fix for high EMI that could result in false limit switch triggering.